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<a href="point_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="point_8h.html">collision/narrowphase/point.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__decl_8h.html">collision/solvers/fcl/fcl_decl.h</a>&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__transform_8h.html">collision/solvers/fcl/fcl_transform.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision.h&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision_object.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#a581a5062e2c3b8a46f81157c118800f7">   10</a></span>&#160;<a class="code" href="classcollision_1_1_point.html#a581a5062e2c3b8a46f81157c118800f7">Point::createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> fcl::Sphere&lt;FCL_PRECISION&gt;(<a class="code" href="point_8h.html#a2b4e4c6e8ef2f484b1c807c5a7baf5f0">COLLISION_FCL_POINT_EPS</a>);</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;}</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#ab5bd1332d89031f735bcfefb676fb9de">   13</a></span>&#160;<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_point.html#ab5bd1332d89031f735bcfefb676fb9de">Point::createFCLCollisionObject</a>(</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;col_geom)<span class="keyword"></span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">    const </span>{</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a>(</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;      col_geom,</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a9eb07527b07f8c286ed869c9a186b518">collision::FCLTransform::fcl_get_3d_translation</a>(this-&gt;<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>()));</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;}</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#aac9adc92238a39936e1d8760f8085a70">   22</a></span>&#160;<a class="code" href="classcollision_1_1_point.html">Point</a> *<a class="code" href="classcollision_1_1_point.html#aac9adc92238a39936e1d8760f8085a70">Point::clone</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classcollision_1_1_point.html#a85f4b419d4062f630de79dc618d483d4">Point</a>(*<span class="keyword">this</span>); }</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#afb6ef02b1ee19dd8421f71adbe2f2206">   24</a></span>&#160;<a class="code" href="classcollision_1_1_point.html#a85f4b419d4062f630de79dc618d483d4">Point::Point</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;copy) : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(copy) {}</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#ac525efda27b241de0f5468e2c8a2ecf4">   26</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_point.html#ac525efda27b241de0f5468e2c8a2ecf4">Point::print</a>(std::ostringstream &amp;stream)<span class="keyword"> const </span>{</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  stream &lt;&lt; <span class="stringliteral">&quot;Point: center: (&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a>() &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a>() &lt;&lt; <span class="stringliteral">&quot;)&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;         &lt;&lt; std::endl;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;}</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#afdf2b1b2b71bb7513440bd8a6cf12f7a">   31</a></span>&#160;<a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_point.html#afdf2b1b2b71bb7513440bd8a6cf12f7a">Point::type</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_point.html#a66196ee0bf7b7d335e644b179284c395">type_</a>; }</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize</a> {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;ICollisionObjectExport *exportObject(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">collision::Point</a> &amp;);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;}</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;serialize::ICollisionObjectExport *Point::exportThis(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordflow">return</span> serialize::exportObject(*<span class="keyword">this</span>);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="point_8h_html_a2b4e4c6e8ef2f484b1c807c5a7baf5f0"><div class="ttname"><a href="point_8h.html#a2b4e4c6e8ef2f484b1c807c5a7baf5f0">COLLISION_FCL_POINT_EPS</a></div><div class="ttdeci">#define COLLISION_FCL_POINT_EPS</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00013">point.h:13</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_afdf2b1b2b71bb7513440bd8a6cf12f7a"><div class="ttname"><a href="classcollision_1_1_point.html#afdf2b1b2b71bb7513440bd8a6cf12f7a">collision::Point::type</a></div><div class="ttdeci">ShapeType type() const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00031">point.cc:31</a></div></div>
<div class="ttc" id="point_8h_html"><div class="ttname"><a href="point_8h.html">point.h</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="fcl__transform_8h_html"><div class="ttname"><a href="fcl__transform_8h.html">fcl_transform.h</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_ac525efda27b241de0f5468e2c8a2ecf4"><div class="ttname"><a href="classcollision_1_1_point.html#ac525efda27b241de0f5468e2c8a2ecf4">collision::Point::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00026">point.cc:26</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform_html_a9eb07527b07f8c286ed869c9a186b518"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a9eb07527b07f8c286ed869c9a186b518">collision::solvers::solverFCL::FCLTransform::fcl_get_3d_translation</a></div><div class="ttdeci">static fcl::Transform3&lt; FCL_PRECISION &gt; fcl_get_3d_translation(const Eigen::Vector2d &amp;pos)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__transform_8h_source.html#l00030">fcl_transform.h:30</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_a66196ee0bf7b7d335e644b179284c395"><div class="ttname"><a href="classcollision_1_1_point.html#a66196ee0bf7b7d335e644b179284c395">collision::Point::type_</a></div><div class="ttdeci">static constexpr ShapeType type_</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00051">point.h:51</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_a581a5062e2c3b8a46f81157c118800f7"><div class="ttname"><a href="classcollision_1_1_point.html#a581a5062e2c3b8a46f81157c118800f7">collision::Point::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00010">point.cc:10</a></div></div>
<div class="ttc" id="fcl__decl_8h_html"><div class="ttname"><a href="fcl__decl_8h.html">fcl_decl.h</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_a85f4b419d4062f630de79dc618d483d4"><div class="ttname"><a href="classcollision_1_1_point.html#a85f4b419d4062f630de79dc618d483d4">collision::Point::Point</a></div><div class="ttdeci">Point(const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00021">point.h:21</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_aac9adc92238a39936e1d8760f8085a70"><div class="ttname"><a href="classcollision_1_1_point.html#aac9adc92238a39936e1d8760f8085a70">collision::Point::clone</a></div><div class="ttdeci">Point * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00022">point.cc:22</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="namespacecollision_1_1serialize_html_aea63e6d672588912102de4dbfc13ba19"><div class="ttname"><a href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">collision::serialize::serialize</a></div><div class="ttdeci">int serialize(const test::BroadphaseFailureCCObj &amp;bf_object, std::ostream &amp;output_stream, const char *format=SERIALIZER_DEFAULT_FORMAT)</div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a690571543f14979499df6fbada671f1f"><div class="ttname"><a href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">collision::Shape::center_x</a></div><div class="ttdeci">double center_x() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00018">shape.cc:18</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aabac3270d60bb5affed693af36fd39d8"><div class="ttname"><a href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">collision::Shape::center_y</a></div><div class="ttdeci">double center_y() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00020">shape.cc:20</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html"><div class="ttname"><a href="classcollision_1_1_point.html">collision::Point</a></div><div class="ttdoc">A point in space.</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00018">point.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_ab5bd1332d89031f735bcfefb676fb9de"><div class="ttname"><a href="classcollision_1_1_point.html#ab5bd1332d89031f735bcfefb676fb9de">collision::Point::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;) const override</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00013">point.cc:13</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aca9a2f6e0de0822e241e39dad9c419ce"><div class="ttname"><a href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">collision::Shape::center</a></div><div class="ttdeci">Eigen::Vector2d center() const</div><div class="ttdoc">Get geometric center of shape.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00016">shape.cc:16</a></div></div>
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